Features
This function sets a new user cartesian coordinate system using [u1] and [v1] based on [ref] coordinate system. The origin position the position of [pos] based on the [ref] coordinate while the direction of x-axis and y-axis bases are given in the vectors u1 and v1, respectively. Other directions are determined by u1 cross v1. If u1 and v1 are not orthogonal, v1’, that is perpendicular to u1 on the surface spanned by u1 and v1, is set as the vector in the y-axis direction. Up to 100 user coordinate systems can be set including the coordinate systems set within Workcell Item. Since the coordinate system set by this function is removed when the program is terminated, setting new coordinate systems within Workcell Item is recommended for maintaining the coordinate information.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
u1 |
float[3] |
- |
X-axis unit vector |
|
v1 |
float[3] |
- |
Y-axis unit vector |
|
pos |
posx list (float[6]) |
- |
posx or position list |
|
ref |
int |
DR_BASE |
reference coordinate
|
Return
|
Value |
Description |
|---|---|
|
Positive integer |
Successful coordinate setting
|
|
-1 |
Failed coordinate setting |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
u1 = [1, 1, 0]
v1 = [-1, 1, 0]
pos = posx(10, 20, 30, 0, 0, 0)
user_tc1 = set_user_cart_coord(u1, v1, pos)
user_tc2 = set_user_cart_coord(u1, v1, pos, ref=DR_WORLD)